CN108099615A - The system and method for controlling the braking of electric vehicle - Google Patents
The system and method for controlling the braking of electric vehicle Download PDFInfo
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- CN108099615A CN108099615A CN201711127501.6A CN201711127501A CN108099615A CN 108099615 A CN108099615 A CN 108099615A CN 201711127501 A CN201711127501 A CN 201711127501A CN 108099615 A CN108099615 A CN 108099615A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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- B60L7/22—Dynamic electric resistor braking, combined with dynamic electric regenerative braking
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- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/26—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels
- B60T8/266—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means
- B60T8/267—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force characterised by producing differential braking between front and rear wheels using valves or actuators with external control means for hybrid systems with different kind of brakes on different axles
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- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60T2270/00—Further aspects of brake control systems not otherwise provided for
- B60T2270/60—Regenerative braking
- B60T2270/604—Merging friction therewith; Adjusting their repartition
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- B60T2270/00—Further aspects of brake control systems not otherwise provided for
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
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- Mathematical Physics (AREA)
Abstract
The present invention provides a kind of method for the braking for controlling electric vehicle, wherein front vehicle wheel is applied to by the friction brake force that friction brake unit generates and rear wheel is applied to by the regenerative braking force that motor generates, the described method includes：The request brake force of the driver of the braking input value based on driver is determined by controller：The activation bit and status information of vehicle are detected by detection unit；And the information of the vehicle running state obtained based on detection information and by detection information determines the braking mode of the vehicle for the request brake force for meeting driver.In addition, the disclosure provides a kind of system for the braking for controlling electric vehicle.
Description
Technical field
This disclosure relates to control the system and method for the braking of electric vehicle, and relate more specifically to control electric vehicle
Braking system and method.
Background technology
Statement in this part only provides background information relevant with the disclosure and can not form the prior art.
In general, hybrid electric vehicle refers to the internal combustion engine (ICE) and use electricity using fossil fuel by being used as power source
The vehicle of the motor drive of energy.
Type for the powertrain for being used for hybrid electric vehicle, it is known that wherein driving motor is arranged on transmission side
Speed changer installing type electrical equipment (TMED) type.
In typical TMED types, engine clutch between engine and driving motor as power source,
Speed changer is arranged on the outlet side of driving motor, and the combination of engine and driving motor is moved when engine clutch engages
Power is transferred to the front vehicle wheel for serving as driving wheel via speed changer.
In addition, in TMED type hybrid electric vehicles, engine and driving motor are arranged on the front vehicle wheel for serving as driving wheel
Place so that the then only driving torque of front vehicle wheel is superimposed and with the torque of the torque of engine and driving motor before transmission
It is controlled in a manner that speed changer is transferred to front vehicle wheel.
In addition, hind axle installing type electrical equipment (RMED) type is known as another type of hybrid electric vehicle.
In RMED type hybrid electric vehicles, front vehicle wheel is by the power drive from engine, and rear wheel is by the power from motor
Driving.
RMED types hybrid electric vehicle uses four-wheel drive (4WD) system.U.S. Patent No. 7,517,298 discloses electricity
Dynamic -4WD (E-4WD) type hybrid electric vehicle, wherein the cardan shaft as machine power unit is removed and driving motor quilt
Applied to rear wheel to improve the efficiency of four-wheel drive vehicle.
As disclosed in this patent, in the hybrid electric vehicle for wherein applying E-4WD systems, independent driving dress
It puts and is respectively applied to front vehicle wheel and rear wheel, wherein engine is applied to the driving device for front vehicle wheel, and driving motor
Using to be used for the driving device of rear wheel, and according to the condition of driving environment, each driving device is driven independently or together
It is dynamic.
On the other hand, held in hybrid electric vehicle or pure electric vehicle by being used as the motor-driven of power source
Row in braking or coast by the power generation of motor and thus charge and (charge to motor) to recover vehicle to battery
The regeneration mode of kinetic energy.
Such regeneration brake system by the kinetic energy of vehicle by being converted into electric energy and by the power storage when vehicle is braked
In the battery and then the electric energy is reused during vehicle travels carry out driving motor to improve vehicle fuel economy.
, it is necessary to which regenerative braking Collaborative Control technology, is used to make in regeneration in the vehicle of regenerative braking is wherein performed
The regenerative braking torque (that is, regenerative braking force) generated in motor and the friction catch torque generated in brake during dynamic
The summation control of (that is, friction brake force) is made equal to the request braking torque (that is, target braking force) of driver.
In such circumstances it is desirable to the electric braking force and the rotational resistance of motor that are generated by the operation to generate electricity (that is, regenerate
Brake force and by friction brake unit generate friction brake force) reasonable distribution.
Hydraulic brake unit is used as typical friction brake unit, wherein based on the corresponding braking of operation with brake
Device signal (that is, in response to driver brake pedal operation brake pedal sensor (BPS) signal) estimate target system
Power, i.e. the request brake force of driver, and the distribution of regenerative braking force and hydraulic braking force (friction brake force) is performed,
The distribution meets target braking force.
In addition, when the regenerative braking force generated by distribution by motor and the hydraulic braking force generated by hydraulic brake unit
Come when determining regenerative braking torque and hydraulic braking torque, (motor is again for the control for performing for regenerative braking and hydraulic braking
Raw control and the control of hydraulic brake unit), to export the analog value of distributed torque.
In the hybrid electric vehicle or pure electric vehicle for wherein performing such regenerative braking, if possible using motor
Regenerative braking is then intended to provide brake force to enhance fuel economy.
In this case, vehicle energy that can be as the heat consumption in friction brake unit during braking can pass through
Motor reduces and can be converted into electric energy so that further amounts of electric energy can be stored in the battery and reused.
However, in the drive system for being mounted on rear wheel in wherein motor, if regenerative braking is compared to using front truck
The brake of wheel is unconditionally given priority, then compared with front vehicle wheel, bigger brake force is applied to rear wheel, so as to lead
Cause the highly unstable behavior of vehicle.
If however, with using the tactful similar of brake in normal engine rolling stock, compared to rear wheel, bigger system
Power is always applied to front vehicle wheel, then is more than as the heat in the brake of front vehicle wheel by discarded energy through rear wheel
The energy of regenerative braking recycling, so as to cause the adverse effect to fuel economy.
The content of the invention
The system and method that the disclosure provides the braking of control electric vehicle, the system and method can pass through vehicle wherein
Insensitivity be provided in the range of make regenerative braking amount maximize come and meanwhile improve vehicle fuel economy, brake
Stability and riding stability.
In in one aspect of the present disclosure, the friction brake force that control is wherein generated by friction brake unit is applied to front truck
The method taken turns and the braking of the electric vehicle of rear wheel is applied to by the regenerative braking force that motor generates includes：By controller
Determine the request brake force of the driver of the braking input value based on driver；By the activation bit of detection unit detection vehicle
And status information；And based on detection information and pass through detection information obtain vehicle transport condition information, by control
Device determines the vehicle braking mode for the request brake force for meeting driver, and wherein braking mode includes：Mode of priority is regenerated, is used
In the regenerative braking of control motor, only to generate the regenerative braking force for meeting the request brake force of driver without generating friction
Brake force；And stability mode of priority, it is used to control the regenerative braking of motor and the operation of friction brake unit so that base
In preferable braking distribution curve carry out the request brake force for meeting driver friction brake force and regenerative braking force distribution simultaneously
And generate distributed friction brake force and the regenerative braking force distributed.
In another aspect of the present disclosure, the friction brake force that control is wherein generated by friction brake unit is applied to front vehicle wheel
And the system of the braking of the electric vehicle of rear wheel is applied to by the regenerative braking force that motor generates to be included：Detection unit,
It is configured as the activation bit and status information of detection vehicle；And controller, it is configured as being based on being detected by detection unit
Information and the information of transport condition of the vehicle obtained by institute's detection information determine the braking mode of vehicle, and according to
The regenerative braking of definite braking mode control motor and the operation of friction brake unit, wherein braking mode it is preferential to include regeneration
Pattern, be used to control the regenerative braking of motor so as to only generate meet the regenerative braking force of the request brake force of driver without
Generate friction brake force；And stability mode of priority, it is used to control the regenerative braking of motor and the behaviour of friction brake unit
Make so that the friction brake force and regenerative braking force for the request brake force for meeting driver are carried out based on preferable braking distribution curve
Distribute and generate distribution friction brake force and distribution regenerative braking force.
In this way, the method and system of the braking for controlling electric vehicle in the disclosure, can be believed based on the driving of vehicle
Breath and status information only generate the regeneration mode of priority of the regenerative braking force for rear wheel and wherein wherein based on preferable systems
Braking mode is selected between the stability mode of priority for the distribution that dynamic distribution curve carries out regenerative braking force and friction brake force；And
And perform the control of selected pattern so that preferential by regenerating in the range of insensitivity is provided wherein
Pattern maximizes the amount of regenerative braking, so as to improve fuel economy.
In addition, activation bit and status information are based on, under conditions of the unstable state of vehicle behavior may occur in which wherein,
System is switched to stability mode of priority so that can provide the insensitivity and riding stability of vehicle.
Other aspects of the following discussion disclosure.
It should be understood that include common machine in terms used herein " vehicle " or " vehicle " or other similar terms
Motor-car, passenger car, bus, truck, various commerial vehicles such as including sport vehicle (SUV), including
The water carrier of various sailer and ships, aircraft etc., and including hybrid electric vehicle, electric vehicle, plug-in hybrid
Electric vehicle, hydrogen-powered vehicle and other alternative fuel vehicles (for example, fuel derived from non-oil resource).As carried herein
And, hybrid electric vehicle is the vehicle with two or more power sources, such as the vehicle of gasoline driven and electric drive.
According to description provided herein, other application field will become obvious.It should be understood that description and specific
The purpose that example is merely to illustrate, and it is not intended to be limited to the scope of the present disclosure.
Description of the drawings
In order to the disclosure can be best understood by, lets us now refer to the figures and describe its various forms by way of example, wherein：
Fig. 1 and Fig. 2 is to show when common RMED types hybrid electric vehicle slows down during straight trip and turning respectively
Diagram when period slows down；
Fig. 3 to Fig. 6 is for explaining braking force distribution to front vehicle wheel and the graph of rear wheel；
Fig. 7 is the block diagram of the configuration of the system for the braking for showing control hybrid electric vehicle；
Fig. 8 is the flow chart of the method for the braking for showing control hybrid electric vehicle；
Fig. 9 is graph, shows the method switching braking mode and sound of the braking by controlling hybrid electric vehicle
It should be in corresponding braking mode to the distribution state of the brake force of front vehicle wheel and rear wheel；And
Figure 10 and Figure 11 is for explaining the exemplary graph of the method for control braking.
The purpose that attached drawing described herein is merely to illustrate, and it is not intended to be limiting in any manner the scope of the present disclosure.
Specific embodiment
It is described below and is substantially only exemplary, and be not intended to be limited to the disclosure, application or purposes.It should be appreciated that
Through entire attached drawing, respective figure mark represents identical or corresponding part and feature.
The deceleration regime during straight trip and the deceleration regime during turning is shown respectively in Fig. 1 and Fig. 2, and there is shown with circular
Friction circle.
Term " friction circle " means to represent the two-dimensional circle of the frictional resistance of the tire of vehicle.In friction circle, road is applied to
The earth-grasping force of tire on face is represented by acting on longitudinal force Fx's on road surface and lateral force Fy and vectorial (addition of vectors).
If longitudinal force Fx's and lateral force Fy is less than friction circle with vector, only occurs very small cunning on wheel
It is dynamic.If longitudinal force and lateral force and vector be more than friction circle, the power that can be acted on road surface is constrained to and rubs
The corresponding power of circle.Therefore, in idling using the power beyond friction circle, so as to cause there is excessive slip.
Longitudinal direction refers to the direction parallel with car body longitudinal direction, and laterally refers to and the longitudinal direction perpendicular to car body
Parallel direction.
In addition, longitudinal force Fx refers to act on the power on road surface along the longitudinal direction by the tire of vehicle, and lateral force Fy
Refer to act on the power on road surface by the wheel tyre bead lateral of vehicle.
In common RMED types vehicle, because engine is mounted on front vehicle wheel side, the load of front vehicle wheel is more than rear wheel
Load, and the friction circle (for example, the friction circle shown at upside in fig 1 and 2) of front vehicle wheel is more than rubbing for rear wheel
Wipe circle (for example, the friction circle shown at downside in fig. 1 and 2).
In addition, when the vehicle is decelerating, occurs the offset of load in the car, the result is that between front vehicle wheel and rear wheel
The difference of size of friction circle become much larger.
At this point, if the longitudinal force (decelerative force) of the rear wheel as caused by regenerative braking is forced increase to make regeneration system
Dynamic effect maximizes, then can be become smaller by the longitudinal force that rear wheel provides.
As shown in Figure 1, if the target braking force (that is, braking required power) as target force is located in friction circle, i.e.,
The target braking force for making to force increase rear wheel during the deceleration during straight trip to enhance regenerative braking, also act normally row by vehicle
For.
On the other hand, when the brake force more than friction circumference is applied to rear wheel to enhance regenerative braking, rear wheel quilt
Locking, and therefore in unexpected braking, the target braking force of rear wheel deviates friction circle, the result is that insensitivity becomes not
Stablize.
If the coefficient of friction on road surface is low, the size of friction circle reduces, and thus such phenomenon become even worse.
It is longitudinally hypodynamic possible in fast braking wherein as shown in Figure 1, it is this in order to solve the problems, such as,
The target braking force of front vehicle wheel must be forced to increase so that the target braking force of front vehicle wheel and the equal position of the target braking force of rear wheel
In in friction circle.
In addition, when slowing down during turning, longitudinal force Fx and side in the available tire of friction circle according to tire
There is limitation into the summation of power Fy, and there is also contradictory relations between the amount and the amount of lateral force for providing longitudinal force.
Therefore, if the longitudinal force (decelerative force) of the rear wheel as caused by regenerative braking is forced to increase to enhance regeneration
Braking effect and, then can from rear wheel provide lateral force become smaller.
In addition, if available lateral force be less than for the rear wheel needed for steady turn target lateral force, then after
The earth-grasping force of wheel tire becomes deficiency, so as to cause there is ovdersteering phenomenon.
With reference to figure 2, in the normal behaviour of vehicle, even if the target braking force of rear wheel is forced to increase to enhance regeneration
Braking, effectively the target braking force of such as tire and lateral earth-grasping force are respectively positioned in friction circle.
However, during emergency braking during turning, the target braking force of rear wheel and lateral earth-grasping force are located at friction circle
In, but and vector can deviate friction circle and the behavior of vehicle can be due to available power in friction circle and between vector
The corresponding amount of difference (i.e. due to insufficient lateral force) and become unstable.
Therefore, it is necessary to pass through the power for increasing the target braking force of front vehicle wheel to force all, such as target braking force, longitudinal direction
Power, lateral force and summation vector are located in friction circle.
Next, Fig. 3 to Fig. 6 shows to explain braking force distribution to front vehicle wheel and the graph of rear wheel.Fig. 3 and
Fig. 4 shows the graph in normal engine rolling stock rather than hybrid electric vehicle.
Fig. 3 shows the graph being wherein not equipped in the vehicle of proportioning valve, and Fig. 4 is shown wherein equipped with for control pair
Graph in the vehicle of the proportioning valve of the hydraulic pressure supply of rear wheel brake unit.
Fig. 5 and Fig. 6 shows the diagram in hybrid electric vehicle, and wherein Fig. 5 shows to perform the regeneration system of front vehicle wheel wherein
Graph in dynamic hybrid electric vehicle, and Fig. 6 is shown in the wherein hybrid electric vehicle of the regenerative braking of execution rear wheel
Graph.
Preferable braking distribution curve in each in Fig. 3 to Fig. 6 is such line, on the line, performs brake force
The ideal Distribution of front wheels and rear wheel.
With reference to figure 3, in conventional non-hybrid vehicle, because applying the braking force distribution of front wheels and rear wheel
Fixed proportion, it is desirable to vehicle small brake force when, show inclining for understeer since the brake force of front vehicle wheel is excessive
To, and when it is expected the big brake force of vehicle, ovdersteering tendency is shown due to the excessive brake force of rear wheel.
With reference to figure 4, in order to overcome caused by front wheels and rear wheel apply the fixed proportion of braking force distribution
Such limitation, the Set scale valve in brake unit so that perform the brake force point always close to ideal braking force distribution curve
Match somebody with somebody.
With reference to figure 5, in wherein the hybrid electric vehicle of regenerative braking of front vehicle wheel is performed, preferentially apply retardation force to
Front vehicle wheel improves fuel economy to increase regenerative braking amount.In this case, seriously show during braking and turn
To insufficient trend.
With reference to figure 6, in wherein the hybrid electric vehicle of regenerative braking of rear wheel is performed, preferentially rear wheel is ensured to make
Power improves fuel economy to increase regenerative braking amount.In this case, steering is seriously shown during braking
Excessively tendency.
On the contrary, if brake force reduces in order to provide stability, the effect of regenerative braking the allocation proportion of rear wheel
Become deficiency, the result is that the problem of exacerbating decrease fuel economy.
Therefore, the system and method that the disclosure provides the braking of control electric vehicle, can be by providing vehicle wherein
Insensitivity in the range of make regenerative braking amount maximize come simultaneously improve vehicle fuel economy, braking stabilization
Property and riding stability.
The method of regenerative braking torque is changeably controlled to solve fuel economy and system in vehicle in disclosure proposition
Contradictory relation between dynamic stability, and it is characterized in that being based specifically on that the activation bit of vehicle and the information of transport condition can
Become ground control regenerative braking torque.
The system and method for control braking in the disclosure can be applied to wherein perform the vehicle of regenerative braking, i.e., wherein
By recovering energy to charge to generate the vehicle of regenerative braking force to battery via motor, and divide applied to during braking
Electric vehicle with friction brake force and regenerative braking force, more specifically, wherein performing friction catch to front vehicle wheel and to rear car
Wheel performs the electric vehicle of regenerative braking.
Here, electric vehicle may include only with the motor as power source and only by power-actuated pure from motor
It electric vehicle (EV) and can be driven with engine and motor and by the power from engine and the power from motor
Dynamic hybrid electric vehicle (HEV).
Electric vehicle refers to pure electric vehicle to be different from hybrid electric vehicle in the narrow sense.However, in the disclosure, art
Language " electric vehicle " uses to cover pure electric vehicle and hybrid electric vehicle in a broad sense and refers to include at least one
As the battery of power source and operable motor-driven and wherein performed by motor by storing electricity in the battery
The vehicle of regenerative braking.
For example, the disclosure can be applied to the engine of the power source by being used as vehicle and motor-driven hybrid electric vehicle
And wherein front vehicle wheel is moved by the power drive from engine and rear wheel by the power-actuated E-4WD mixing from motor
Power vehicle.
In addition, the disclosure can be applied to wherein perform rear wheel the RMED type E-4WD hybrid electric vehicles of regenerative braking,
And provide the effect for meeting the fuel economy for improving E-4WD hybrid electric vehicles, insensitivity and driving stability simultaneously
Fruit.
Hereinafter, the system and method braked according to the control of the disclosure be will be described in.
The method of control braking in the disclosure can be performed by multiple controllers in Collaborative Control vehicle, wherein controlling
Device processed can be for controlling the vehicle control device of the highest controller of the integrated operation of vehicle (for example, hybrid power control is single
First (HCU), control unit for vehicle (VCU)), for controlling the motor control unit of motor operation (MCU), for controlling vehicle system
Dynamic brake monitor etc..
Alternatively, the method for the control for brake in the disclosure can be performed by single integrated control device.It is described below
In, multiple controllers or single integrated control device are referred to as controller.
Fig. 7 is the block diagram of the configuration of the system for the braking for showing control hybrid electric vehicle.
As shown in the figure, detection unit and controller are included according to the system of the braking of the control hybrid electric vehicle of the disclosure
20, the detection unit is used to detect the activation bit and status information of vehicle, and the controller 20 is used to be based on passing through detection
The information of unit detection and the running condition information for the vehicle for passing through the information acquisition determine braking mode and so as to control
The brake force of vehicle.
In this case, detection unit may include：Brake pedal detection unit 11, vehicle speed detection unit 12, vehicle
Wheel speed detection unit 13 and steering angle detection module 14, the brake pedal detection unit 11 are used as driver for detecting
Braking input information brake pedal mode of operation, the vehicle speed detection unit 12 for detecting car speed,
The wheel speed detecting unit 13 is used to detect the front vehicle wheel of vehicle and the wheel velocity of rear wheel, and the steering angle detection is single
Member 14 is for detection according to the steering angle of the steering wheel operation of the driver of the steering input information as driver.
In this case, controller 20 determines the brake operating of the driver with being detected by brake pedal detection unit 11
The request brake force (target braking force) of the corresponding driver of state, and the slippage rate based on rear wheel and target yaw angle
Rate determines braking mode, the slippage rate and target yaw angular speed of rear wheel by vehicle speed detection unit 12 and
The detected value of wheel speed detecting unit 13 and the detected value of steering angle detection module 14 obtain.
In addition, controller 20 is according to the definite regenerative braking of braking mode control motor and the behaviour of friction brake unit
Make.
Fig. 7 is shown for generating the motor 33 of the regenerative braking force for rear wheel, for regenerating drives and operate electricity
The converter 32 of machine 33, via converter 32 with can charge and discharge system connection battery 31 and for generating for front vehicle wheel
The friction brake unit 40 of friction brake force (hydraulic braking force).
Brake pedal detection unit 11 detects the value of the braking input of driver, and can be in response to driver couple
The mode of operation of brake pedal and export the typical brake pedal sensor (BPS) of electric signal.
In addition, wheel speed detecting unit 13 and steering angle detection module 14 may respectively be and can be already installed in vehicle
Typical wheel velocity sensor and typical steering angle sensor.
Vehicle speed detection unit 12 detects the travel speed of vehicle.Alternatively, also can Jin Shiyong detected by wheel velocity
The wheel speed information that unit 13 detects, and without using the vehicle speed information detected by separate vehicle speed detection unit.
In this case, in addition to being used to detect the sensor of wheel velocity of rear wheel, wheel velocity detection is single
Member 13 further includes to detect the sensor of the wheel velocity of corresponding wheel (that is, front vehicle wheel).
In the disclosure, as will be described later, controller 20 is calculated performs regenerative braking during vehicle travels to it
Rear wheel slippage rate, and calculate slippage rate using wheel speed information.
In this case, controller 20 can be based on the car speed detected by vehicle speed detection unit 12 and by wheel
The wheel speed information for the rear wheel that speed detection unit 13 detects calculates the slippage rate of rear wheel.Alternatively, because can lead to
It crosses wheel velocity and calculates car speed, so can be according to the wheel velocity of each wheel detected by wheel speed detecting unit 13
Information (i.e. the wheel speed information of front vehicle wheel and rear wheel) and the slippage rate of rear wheel is calculated without using car speed.
For example, the toy vehicle velocity value and rear wheel of the average value for being used as the wheel velocity for each wheel detection can be passed through
Wheel speed value calculate the slippage rate of rear wheel.
Because the slippage rate of wheel is the letter for being used as parameter in the various control logics such as control for brake of vehicle
Breath, so can be mentioned that, the calculating of the slippage rate of wheel as described above is known technology.Therefore, will omit herein
To this detailed description.
Hereinafter, controller 20 will be described with reference to following control process.
Fig. 8 is the flow chart of the method for the braking for showing control hybrid electric vehicle, and Fig. 9 is diagram, shows to pass through
Control the method switching braking mode of the braking of hybrid electric vehicle and in response to corresponding braking mode brake force front wheels
With the distribution state of rear wheel.
First, in the disclosure, the braking mode performed by controller 20 includes two different patterns, i.e. regeneration is preferential
Pattern and stability mode of priority.Controller 20 control is executed so that in regeneration mode of priority and stability mode of priority
It is braked under one pattern.
Braking mode as described above is defined as follows：
Regeneration mode of priority is such braking mode, wherein only generating regenerative braking force by motor 33 to improve fuel
Economy and regenerative braking force are applied only to rear wheel, but friction brake unit 40 does not generate friction brake force.
Stability mode of priority is such pattern, and the degree that wherein regenerative braking force generates is no more than based on preferable braking
The brake force of the rear wheel of distribution curve distribution, and rear wheel is applied to, preferentially to ensure the stabilization of vehicle behavior
Property, and when performing the regenerative braking using motor 33 to rear wheel, remaining brake force in addition to regenerative braking force by
40 friction catch of friction brake unit (such as hydraulic braking) generates so that meets necessary according to the braking of driver input operation
Generate in the car overall brake force (that is, as driver request brake force target braking force).
That is, in stability mode of priority, overall brake force (that is, target braking force) is allocated to through motor 33 again
Raw brake force and the friction brake force by friction brake unit 40 (such as hydraulic brake unit), and control motor 33
The operation of regenerative braking and friction brake unit 40 so that generate the regenerative braking force and friction brake force of distribution.
Therefore, in stability mode of priority, brake force is determined forward in the level close to preferable braking distribution curve
The allocation proportion of wheel and rear wheel.
In the disclosure, braking mode is configured to wherein preferentially perform the regeneration mode of priority in two braking modes
Default mode, and then when the activation bit (for example, steering angle) based on vehicle and running condition information are (for example, slippage rate
With target yaw angular speed) definite pattern switch condition when meeting controller 20 will regenerate mode of priority to be switched to stability excellent
First pattern.
With reference to the flow chart of Fig. 8, in step S11, controller determines whether to operate anti-lock braking system (ABS) and electronics
Stabilitrak (ESC).When ABS and ESC is operated, do not perform the brake control process according to the disclosure, and only when
The brake control process according to the disclosure is just performed when ABS and ESC is not operated.
When detecting driver to the operation of brake pedal by brake pedal detection unit 11, the estimation of controller 20 with by
The corresponding target braking force of brake pedal operation state that brake pedal detection unit 11 detects, i.e. the braking input of driver
Value.
For example, when driver operates brake pedal, in step S12, controller 20 is based on corresponding with braking operation state
Braking signal (i.e. in response to brake pedal operation brake pedal detection unit 11 signal) estimation driver use
In the request brake force of abrupt deceleration vehicle, i.e. target braking force (that is, target braking torque).
The process for estimating target braking force or target braking torque is known processes, and therefore will be saved in this description
Slightly detailed description.
Here, target braking force refers to brake the operation of brake pedal and the request of the driver asked by driver
Power, and mean to treat the overall brake force generated in the car in response to the operation of brake pedal.
When being computed as described above target braking force, in step S13, under conditions of ABS and ESC is not operated, perform
Regeneration mode of priority of the target braking force without distributing brake force is only wherein met by regenerative braking force.
At this point, generating the corresponding Motor torque order for regenerative braking of target braking force with estimating, i.e. regeneration is made
Dynamic torque order, and according to the regenerative operation of regenerative braking torque order control motor 33, so as to will comply with target braking force
Regenerative braking force be applied to rear wheel.
As described above, in the brake control process according to disclosure form, regeneration mode of priority is set to acquiescence mould
Formula so that as shown in figure 9, preferential perform regeneration mode of priority, and only perform vehicle by carrying out regenerative braking to rear wheel
Braking, and at the same time being charged by regenerative braking to battery 31.
On the other hand, even if during mode of priority is regenerated, if based on the activation bit and running condition information of vehicle
Determine, vehicle be in due to the excessive regenerative braking force of rear wheel is applied in current brake and may occur in which trackslip and due to
It trackslips and may occur in which the condition of the locking of rear wheel or in the yawrate for needing to control vehicle more than certain level
Condition, then braking mode is switched to stability mode of priority by controller 20 from regeneration mode of priority, and it is excellent to perform stability
The control of first pattern.
At this point, slippage rate of the controller 20 based on the wheel speed information calculating rear wheel in braking, and at the same time passing through
The car speed that is detected by vehicle speed detection unit 12 and target is calculated by steering angle that steering angle detection module 14 detects
Yawrate.
Because target yaw angular speed is various control logics such as vehicle attitude control and the track for already functioning as vehicle
The information of the parameter in control is kept, so can be mentioned that, the calculating process of target yaw angular speed is known technology.Cause
This, will omit to this detailed description herein.
Then, the information of slippage rate or target yaw angular speed based on the rear wheel calculated and detected by steering angle
Unit detection steering angle information come determine whether switch braking mode.
That is, if the slippage rate of rear wheel is more than predetermined first threshold or target yaw angular speed more than predetermined
When second threshold or the steering angle detected by steering angle detection module 14 are more than predetermined three threshold value, controller 20 is in step
Braking mode is switched to stability mode of priority by S15 and S16, and stops that Motor torque is wherein forced to follow target braking torsion
The control for brake of the regeneration mode of priority of square (that is, regenerative braking force being forced to follow target braking force), and perform and be wherein based on
Ideal braking distribution curve performs the control of the stability mode of priority of the distribution of regenerative braking force and friction brake force.
Here, first threshold, second threshold and the 3rd threshold value are by the test before the vehicle development stage and can to comment
The value for estimating process to set and use, and these values are pre-entered into after setting the controller 20 of vehicle.
First threshold, second threshold and the 3rd threshold value can be set in the case where considering the following conditions：When regenerative braking force only applies
The condition for the locking that may occur in which rear wheel due to excessively trackslipping during to rear wheel in vehicle leaved for development turns due to working as vehicle
Vehicle behavior is unstable and make yawrate error (that is, the yawrate value that actually measures and target yaw angle speed when curved
Error between rate value) big condition is, it is necessary to control the condition of larger target yaw angular speed value, close to as shown in Figure 9
Condition of the tire-road coefficient of friction limit etc..
As described above, in the disclosure, in the case of brake force is controlled in the case where regenerating mode of priority, rear car is monitored in real time
Slippage rate, target yaw angular speed and the steering angle of wheel and they when meeting predetermined condition, missed there is big yawrate
Before the poor or excessive locking trackslipped and rear wheel thus occur, braking mode is switched to stability mode of priority so that
Ensure the insensitivity and riding stability of vehicle.
Into after stability mode of priority, performing as described above to follow the system in the form of preferable braking distribution curve
The control of power distribution and control for brake.
In this way, in the disclosure, (only to rear wheel generation brake force), preferential perform wherein is made during braking
The regeneration mode of priority that power is only provided by the regenerative braking for using the motor being mounted on rear wheel side, and when such as Fig. 9 institutes
It is preferential by regenerating when showing that brake force keeps off the tire-road coefficient of friction limit (that is, the point that rear wheel appearance had previously locked)
The control of pattern come enhance regenerative braking and improve fuel economy.
In addition, when brake force is close to the tire-road coefficient of friction limit, stop the control for brake of regeneration mode of priority,
And the stability of vehicle behavior is ensured by the control for brake of stability mode of priority.
The example that the disclosure is applied to will be described with reference to Figure 10 and Figure 11.
The longitudinal force Fx of longitudinal force as tire and as can in tire simultaneously generate tire lateral force side
There is the relation of contradiction each other to power Fy.Therefore, fixed value (that is, the first threshold based on the slippage rate for using such tire characteristics
Value) come determine whether terminate regeneration mode of priority control strategy can be effective.
In the example of figure 9, the slippage rate based on 0.06 (it is the fixed value as first threshold), it is determined whether terminate
Regenerate mode of priority.Therefore, if vehicle is not in turn state (that is, turning), when applying the brake force of 3800N, after
The regeneration mode of priority of wheel terminates.
If however, when into order to provide lateral force Fy corresponding with 2800N allowing 5 ° of the angle α that trackslips when turning round,
Then due to the characteristic of tire, 0.06 slippage rate is only generated by the brake force of 1900N, and therefore regenerates mode of priority knot
Beam.
In the example in Figure 10, determine whether to terminate regeneration mode of priority based on 0.06 slippage rate.Therefore, application is worked as
During the brake force of 3800N, regeneration mode of priority terminates.
However, when the coefficient of friction on road surface reduces, 0.06 slippage rate is only generated by the brake force of 1900N, and
Therefore regeneration mode of priority terminates.
The description of the disclosure is substantially only exemplary, and the variation for therefore not departing from the essence of the disclosure is intended to this
In scope of disclosure.Such variation is not to be considered a deviation from spirit and scope of the present disclosure.
Claims (14)
1. a kind of method of the braking of control vehicle, wherein being applied to the vehicle by the friction brake force that friction brake unit generates
Front vehicle wheel and the rear wheel of the vehicle is applied to by the regenerative braking force that motor generates, the described method includes：
The brake force of the braking input value based on driver is determined by controller, wherein the brake force is asked by driver；
By the detection information of detection unit detection vehicle, wherein the vehicle includes electric vehicle, and wherein described detection
Information includes the activation bit and status information of the vehicle；And
By the controller, the transport condition of the vehicle obtained based on the detection information and from the detection information
Information determines the braking mode for the vehicle for meeting the brake force,
Wherein described braking mode includes：
Mode of priority is regenerated, wherein the regeneration mode of priority controls the regenerative braking of the motor, only to generate described in satisfaction
The regenerative braking force of brake force is without generating the friction brake force；And
Stability mode of priority, wherein the stability mode of priority controls the regenerative braking of the motor and the friction
The operation of brake unit is to generate the allocated friction brake force and the regenerative braking force, wherein meeting the brake force
The distribution of the friction brake force and the regenerative braking force performed based on ideal braking distribution curve.
2. according to the method described in claim 1, the detection information of the vehicle is wherein detected by the detection unit
Including：
Car speed is detected by vehicle speed detection unit；
The wheel velocity of the vehicle is detected by wheel speed detecting unit；And
By steering angle detection module detection basis by the driver to the steering angle of the operation of steering wheel.
3. according to the method described in claim 2, the detection information of the vehicle is wherein detected by the detection unit
It further includes：
By the mode of operation of brake pedal detection unit detection brake pedal, wherein the controller determines to step on the braking
The corresponding brake force of the mode of operation of plate.
4. according to the method described in claim 2, wherein described controller calculates the slippage rate and target yaw of the rear wheel
Angular speed value, and determined based on the steering angle, the slippage rate of the rear wheel and the target yaw angular speed value
The braking mode, and
The slippage rate of wherein described rear wheel and the target yaw angular speed value are based on the car speed and described
The information of the transport condition of the vehicle of wheel velocity.
It is described when the slippage rate of the rear wheel is more than first threshold 5. according to the method described in claim 4, wherein
When target yaw angular speed value is more than second threshold or the steering angle and is more than three threshold values, the controller is by the stabilization
Property mode of priority is determined as the braking mode and performs the control of the stability mode of priority.
6. according to the method described in claim 1, wherein, when the regeneration mode of priority is set to write from memory in the controller
When the detection information of the vehicle and the letter of transport condition when recognizing pattern and during the regeneration mode of priority
When breath meets predetermined condition, the braking mode is switched to the stability mode of priority by the controller.
7. according to the method described in claim 6, wherein it is described regeneration mode of priority during, when the cunning of the rear wheel
Rate of rotation is more than first threshold, and the target yaw angular speed value is more than second threshold or the steering angle is more than the 3rd threshold value
When, the controller calculates the slippage rate of the rear wheel and the target yaw angular speed value, and the controller
The braking mode is switched to the stability mode of priority and performs the control of the stability mode of priority.
8. a kind of system for controlling vehicle braking, wherein being applied to the vehicle by the friction brake force that friction brake unit generates
Front vehicle wheel, and the rear wheel of the vehicle is applied to by the regenerative braking force that motor generates, the system comprises：
Detection unit is configured as detecting the detection information of the vehicle, wherein the vehicle includes electric vehicle, and its
Described in detection information include the activation bit and status information of the vehicle；And
Controller is configured as the traveling shape of the vehicle obtained based on the detection information and by the detection information
The information of state determines the braking mode of the vehicle, and is configured as according to braking mode control to be determined
The regenerative braking of motor and the operation of the friction brake unit,
Wherein described braking mode includes：
Mode of priority is regenerated, wherein the regeneration mode of priority controls the regenerative braking of the motor, only to generate satisfaction
The regenerative braking force of brake force is without generating the friction brake force, wherein the brake force is asked by driver；And
Stability mode of priority, wherein the stability mode of priority controls the regenerative braking of the motor and the friction
The operation of braking is to generate the allocated friction brake force and the regenerative braking force, wherein meeting the brake force
The distribution of the friction brake force and the regenerative braking force performed based on ideal braking distribution curve.
9. system according to claim 8, wherein the detection unit includes：
Vehicle speed detection unit is configured as detection car speed；
Wheel speed detecting unit is configured as detecting the wheel velocity of the vehicle；And
Steering angle detection module is configured as detecting the steering angle according to the driver to the operation of steering wheel.
10. system according to claim 9, wherein the detection unit further includes：
Brake pedal detection unit is configured to the mode of operation of detection brake pedal, wherein the controller is configured as
Determine the brake force corresponding with the mode of operation of the brake pedal.
11. system according to claim 9, wherein the controller be configured as calculating the rear wheel slippage rate and
Target yaw angular speed value, and based on the steering angle, the slippage rate of the rear wheel and the target yaw angle
Rate value determines the braking mode, and the slippage rate of wherein described rear wheel and the target yaw angular speed value are
The information of the transport condition of the vehicle based on the car speed and the wheel velocity.
12. system according to claim 11, wherein, when the slippage rate of the rear wheel is more than first threshold, institute
When stating target yaw angular speed value and being more than three threshold values more than second threshold or the steering angle, the controller is configured as
The stability mode of priority is determined as the braking mode and performs the control of the stability mode of priority.
13. system according to claim 8, wherein, when the regeneration mode of priority is set in the controller
During default mode and it is described regeneration mode of priority during when described in the transport condition of the detection information and the vehicle
When information meets predetermined condition, the controller is configured as the braking mode being switched to the stability mode of priority.
14. system according to claim 13, wherein when described in the rear wheel during the regeneration mode of priority
Slippage rate is more than first threshold, and the target yaw angular speed value is more than second threshold or the steering angle is more than the 3rd threshold value
When, the controller is configured as calculating the slippage rate of the rear wheel and the target yaw angular speed value, and institute
Controller is stated to be configured as the braking mode being switched to the stability mode of priority and perform the preferential mould of stability
The control of formula.
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| KR1020160157105A KR102417515B1 (en) | 2016-11-24 | 2016-11-24 | Brake control system and method for electric vehicle |
| KR10-2016-0157105 | 2016-11-24 |
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| US (1) | US10967840B2 (en) |
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Also Published As
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| KR20180058322A (en) | 2018-06-01 |
| US20180141528A1 (en) | 2018-05-24 |
| CN108099615B (en) | 2022-11-29 |
| US10967840B2 (en) | 2021-04-06 |
| KR102417515B1 (en) | 2022-07-05 |
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